The invention provides a snakelike underwater robot model construction method, a snakelike underwater robot control method and equipment, and relates to the technical field of underwater robots. Based on a snakelike underwater robot, the snakelike underwater robot comprises a base, connecting rods and joints which are connected with one another; the model construction method of the snakelike underwater robot comprises the steps that an underwater robot coordinate system of the snakelike underwater robot is acquired, and the underwater robot coordinate system comprises a connecting rod coordinate system, a propeller coordinate system and a world coordinate system; based on a Jacobian matrix, obtaining a kinematics equation according to the coordinate system of the underwater robot; obtaining a kinetic equation according to the kinematic equation; and obtaining a snakelike underwater robot model through the kinetic equation. According to the invention, the control precision of the snakelike underwater robot is improved.
本发明提供了一种蛇形水下机器人的模型构建方法、控制方法及设备,涉及水下机器人技术领域,基于所述蛇形水下机器人,所述蛇形水下机器人包括互相连接的基座、连杆和关节,所述蛇形水下机器人的模型构建方法包括:获取所述蛇形水下机器人的水下机器人坐标系,其中,所述水下机器人坐标系包括连杆坐标系、推进器坐标系和世界坐标系;基于雅可比矩阵,根据所述水下机器人坐标系得到运动学方程;根据所述运动学方程得到动力学方程;通过所述动力学方程得到蛇形水下机器人模型。本发明实现了提高蛇形水下机器人的控制精度。
Model construction method, control method and equipment of snakelike underwater robot
蛇形水下机器人的模型构建方法、控制方法及设备
23.05.2025
Patent
Elektronische Ressource
Chinesisch
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